/*********************************************************************
*
* Software License Agreement (BSD License)
*
*  Copyright (c) 2010, Heriot-Watt University, UK.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Heriot-Watt University nor the names of 
*     its contributors may be used to endorse or promote products 
*     derived from this software without specific prior written
*     permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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*
*  Author: Joel Cartwright
*
*********************************************************************/

#include <iostream>
#include <time.h>

using namespace std;

#include <ros/ros.h>
#include <osl_core/ModuleCore.h>
#include <osl_core/Chrono.h>

// ---------------------------------------------------------------------------
int main(int argc, char **argv)
{
	// Need to initialise ROS before we can use ros::Time.
	cout << "Using ROS." << endl;
	ros::init(argc, argv, "timertest", ros::init_options::NoSigintHandler);
	ros::NodeHandle nh;
	if (!osl_core::ModuleCore::checkROSClock()) return -1;

	osl_core::Chrono chrono;

	for (int i=0; i<100; ++i) {
		cout << "Chrono: " << chrono.ReadMs() << " ms, " << chrono.Read() << " ns" << endl;
		if (chrono.ReadMs() > 2000) {
			cout << "*** Resetting." << endl;
			chrono.Reset();
			break;
		}
		usleep(99000);
	}

	for (int i=0; i<100; ++i) {
		cout << "Chrono: " << chrono.ReadMs() << " ms, " << chrono.Read() << " ns" << endl;
		if (chrono.ReadMs() > 2000) {
			cout << "*** Read ms and reset: " << chrono.ReadMsAndReset() << endl;
			chrono.Reset();
			break;
		}
		usleep(99000);
	}

	for (int i=0; i<100; ++i) {
		cout << "Chrono: " << chrono.ReadMs() << " ms, " << chrono.Read() << " ns" << endl;
		if (chrono.ReadMs() > 2000) {
			cout << "*** Read micros and reset: " << chrono.ReadAndReset() << endl;
			chrono.Reset();
			break;
		}
		usleep(99000);
	}

	return 0;
}
